| Methods | ATE↓ [cm] |
Track.↓ [ms x it] |
Map.↓ [ms x it] |
Track. FPS↑ |
Map. FPS↑ |
#param |
|---|---|---|---|---|---|---|
| iMAP | 4.23 | - | - | - | - | - |
| iMAP* | 6.10 | 29.6x200 | 44.3x300 | 0.17 | 0.08 | 0.2M |
| NICE-SLAM | 2.50 | 47.1x200 | 189.2x60 | 0.11 | 0.09 | 101.6M |
| Co-SLAM | 2.40 | 7.5x10 | 19.0x20 | 13.33 | 2.63 | 1.6M |
| Co-SLAM† | 2.17 | 7.5x20 | 19.0x20 | 6.67 | 2.63 | 1.6M |
The runtime is measured as the total processing time from the program starts until the final checkpoint is saved. Mesh saving was disabled for NICE-SLAM and iMAP* as we observed that they can take up to ~10 minutes to extract a single mesh. Also note that run-time of NICE-SLAM and iMAP* on fr2/xyz and fr3/office are approximate estimated values as they take too long to run.
| Methods | ATE↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|
| iMAP | 4.9 | - | - |
| iMAP* | 7.2 | 3hr17min | 0.22M |
| NICE-SLAM | 2.7 | 2hr30min | 44.66M |
| ESLAM | 2.5 | 40min | 6.8M |
| Co-SLAM | 2.7 | 1min18s | 1.59M |
| Co-SLAM† | 2.4 | 1min56s | 1.59M |
| Methods | ATE↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|
| iMAP | 2.0 | - | - |
| iMAP* | 2.1 | ~18hr | 0.22M |
| NICE-SLAM | 1.8 | ~24hr | 120.99M |
| ESLAM | N/A | N/A | 12.98M |
| Co-SLAM | 1.9 | 6min58s | 1.59M |
| Co-SLAM† | 1.7 | 10min44s | 1.59M |
| Methods | ATE↓ [cm] |
runtime↓ | #param↓ |
|---|---|---|---|
| iMAP | 5.8 | - | - |
| iMAP* | 9.0 | ~15hr | 0.22M |
| NICE-SLAM | 3.0 | ~16hr | 139.19M |
| ESLAM | N/A | N/A | 13.98M |
| Co-SLAM | 2.6 | 5min33s | 1.59M |
| Co-SLAM† | 2.4 | 8min23s | 1.59M |